Journal of South China University of Technology (Natural Science Edition) ›› 2017, Vol. 45 ›› Issue (10): 129-136,143.doi: 10.3969/j.issn.1000-565X.2017.10.018

• Mechanical Engineering • Previous Articles     Next Articles

Dynamic Parameter Identification of SCARA Robots Based on Newton-Euler Method

ZHANG Tie1 LIANG Xiao-hong1 QIN Bin-bin1 LIU Xiao-gang2   

  1. 1.School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China; 2.Guangxi Colleges and Universities Key Laboratory of Robot and Welding,Guilin University of Aerospace Technology,Guilin 541004,Guangxi,China
  • Received:2017-02-03 Revised:2017-05-09 Online:2017-10-25 Published:2017-09-01
  • Contact: 张铁(1968-)，男，教授，博士生导师，主要从事机器人技术研究． E-mail:merobot@scut.edu.cn
  • About author:张铁(1968-)，男，教授，博士生导师，主要从事机器人技术研究．
  • Supported by:
    Supported by the National High Grade CNC Machine Tools and Basic Manufacturing Equipment Science and Technology Major Project of the Ministry of Science and Technology of China(2015ZX04005006) and the Science and Technology Major Project of Guangdong Province(2014B090921004，2015B010918002)

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Abstract: SCARA robots have been widely used in industrial production.In order to meet the requirements of high speed and high precision,it is necessary to conduct a dynamics analysis of SCARA robots.In this paper,a dynamic model of a SCARA robot is constructed by means of the Newton-Euler method.Then,the effects of friction and mo- tor rotors on joint torques are taken into account in the dynamic model,and a linear expression of the joint torque with respect to a set of identifiable parameters is established.Finally,the excitation trajectories generated by means of the Fourier series formulation are used in an excitation experiment,and the least squares method is employed to identify the identifiable parameters.Experimental results show that the variation trend of the joint torque obtained through the established linear expression is consistent with that of the actual value.When the dynamic parameters obtained through the identification method proposed in this paper are applied to a dynamic modeling,the joint torque of a running SCARA robot can be achieved.The proposed method can provide basic equations for the future work on a dynamic control.

Key words: SCARA robot, dynamic parameter identification, Newton-Euler method, joint torque

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